AUTONOMOUS OPERATION VERIFICATION DEVICE AND AUTONOMOUS SYSTEM
First Claim
1. An autonomous system comprising:
- internal state measurement means measuring an internal state value of a vehicle in question;
means for measuring an external state;
operation-time constraint setting means for setting an operation-time constraint limiting a possible range that could be taken by the internal state value until a predetermined time point;
means for setting an operation-time precondition limiting a possible range that could be taken by the external state until a predetermined time point by using the external state obtained using the external measurement means;
means for setting a safety requirement constraining a relationship between the internal state and the external state;
expected operation setting means for setting an expected operation for commanding an operation to be executed by the system in question;
planned operation calculation means for calculating a planned operation for the purpose of achieving the expected operation;
a constraint form conversion unit for converting all of the operation-time constraint, the operation-time precondition, the safety requirement, the expected operation, the planned operation into a constraint form with a quantifier; and
satisfiability determination means for determining whether there is a satisfying solution for the constraint form with the quantifier or not,wherein the satisfiability determination means solves a satisfiability determination solution of the constraint form with the quantifier when the vehicle in question is operating based on the planned operation.
1 Assignment
0 Petitions
Accused Products
Abstract
A mechanism having an autonomous operation verification device having a function of determining satisfiability of expected operation and safety requirement under a predetermined operation-time precondition and determining occurrence possibility of hazard violating the safety requirement in a predictive manner and achieving operation safety of an autonomous system operating in an open environment is provided. A function for determining whether the expected operation and operation safety are satisfiable or not in a case where operation planning means provides a planned operation and evaluating the operation safety of the planned operation during operation is provided. Further, an autonomous system having a function of calculating an alternative operation by using the predictive determination function and recovering operation safety by avoiding the hazard is provided.
-
Citations
7 Claims
-
1. An autonomous system comprising:
-
internal state measurement means measuring an internal state value of a vehicle in question; means for measuring an external state; operation-time constraint setting means for setting an operation-time constraint limiting a possible range that could be taken by the internal state value until a predetermined time point; means for setting an operation-time precondition limiting a possible range that could be taken by the external state until a predetermined time point by using the external state obtained using the external measurement means; means for setting a safety requirement constraining a relationship between the internal state and the external state; expected operation setting means for setting an expected operation for commanding an operation to be executed by the system in question; planned operation calculation means for calculating a planned operation for the purpose of achieving the expected operation; a constraint form conversion unit for converting all of the operation-time constraint, the operation-time precondition, the safety requirement, the expected operation, the planned operation into a constraint form with a quantifier; and satisfiability determination means for determining whether there is a satisfying solution for the constraint form with the quantifier or not, wherein the satisfiability determination means solves a satisfiability determination solution of the constraint form with the quantifier when the vehicle in question is operating based on the planned operation. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. An autonomous control device comprising:
-
a constraint form conversion unit for inputting operation-time constraint information, operation-time precondition information, safety requirement information, expected operation information, and planned operation information, and converting all of the input information into a constraint form with a quantifier; and a satisfiability determination unit for determining whether there is any satisfying solution of the constraint form with the quantifier, wherein the satisfiability determination unit solves a satisfiability determination solution of the constraint form with the quantifier when the vehicle in question is operating based on the planned operation.
-
Specification